data/train.csv

id,scene_context,ego_state_summary,camera_summary,lidar_summary,radar_summary,map_localization_summary,baseline_coherence_score,expected_sensor_alignment,cross_modal_correlation,stability_band,drift_tolerance,baseline_confidence,notes,constraints,gold_checklist
MSCB-001,"clear day; highway; light traffic","60mph steady; lane keep stable","2 vehicles ahead; clear lane lines","2 clusters match vehicles; clean ground plane","2 targets match range-rate","map match high; lane geometry consistent",0.86,"cam-lidar-radar consistent on lead vehicles; map agrees with lane","0.82,"0.80-0.92",0.10,0.84,"High agreement typical","Under 240 words","base+align+corr+band+tol+conf"
MSCB-002,"urban; dusk; moderate traffic","22mph stop-go; frequent braking","lane lines weak; pedestrian silhouettes","clusters stable; edges clear","targets noisy near metal signs","map match medium; localization jitter small",0.68,"lidar anchors objects; camera uncertain; radar partial; map mostly consistent","0.62,"0.58-0.76",0.16,0.72,"Lower baseline due to dusk","Under 240 words","base+align+corr+band+tol+conf"
MSCB-003,"rain; highway; moderate traffic","55mph; spray; wipers on","reduced visibility; reflections","point cloud sparse; returns drop","targets stable; range-rate reliable","map match high; localization stable",0.64,"radar+map reliable; camera degraded; lidar reduced density","0.58,"0.52-0.72",0.18,0.70,"Rain lowers cross-modal agreement","Under 240 words","base+align+corr+band+tol+conf"
MSCB-004,"night; suburban; light traffic","30mph steady; gentle turns","headlight glare; signs bright","clusters clean; curb edges clear","few targets; stable","map match high; good lane edges",0.72,"lidar+map align; camera glare acceptable; radar sparse but consistent","0.66,"0.60-0.80",0.15,0.74,"Night baseline moderate","Under 240 words","base+align+corr+band+tol+conf"
MSCB-005,"construction zone; day","35mph; narrow lane; cones","cones visible; lane shift markings","cones + barriers dense","radar clutter from barriers","map mismatch expected; temporary geometry",0.58,"cam+lidar agree on cones; radar clutter; map divergence tolerated","0.50,"0.46-0.70",0.22,0.66,"Map disagreement is normal here","Under 240 words","base+align+corr+band+tol+conf"
MSCB-006,"urban canyon; day","18mph; tall buildings","camera stable; partial sky occlusion","lidar multipath edges; some dropouts","radar multipath ghosts possible","map match medium; localization drift risk",0.60,"camera+map partial; lidar less stable; radar noisy; coherence band wider","0.54,"0.44-0.70",0.24,0.62,"Canyon expands tolerance","Under 240 words","base+align+corr+band+tol+conf"